Method and system for monitoring deformation of fire-affected building based on air-ground remote sensing networking

A method for monitoring deformation of a fire-affected building based on air-ground remote sensing networking, comprising the following steps:

• acquiring radar images by a ground-based deformation monitoring radar A, an unmanned aerial vehicle-mounted deformation monitoring radar B, and an unmanned aerial vehicle-mounted deformation monitoring radar C;
• performing geocoding on a remote sensing image acquired by each radar, and mapping two-dimensional image coordinates, in a radar slant range-azimuth polar coordinate system, of a fire-affected building structure target to local three-dimensional spatial coordinates;
• and
• iteratively resolving, based on distributed radar network monitoring, a three-dimensional deformation component and a three-dimensional deformation speed of the fire-affected building structure target, wherein
• a deployed position of the unmanned aerial vehicle-mounted deformation monitoring radar C is determined as follows:
• preliminarily determining, according to a right-handed coordinate system convention and directional vectors:
• L1 and L2, a candidate point of the unmanned aerial vehicle-mounted deformation monitoring radar C in combination with deployed positions of the ground-based deformation monitoring radar A and the unmanned aerial vehicle-mounted deformation monitoring radar B;
• and
• adjusting a flight pose in an area proximate to the candidate point, calculating a number of conditions for a three-dimensional transformation matrix Min real time during the adjusting process, performing, according to the number of conditions, stability evaluation on the transformation matrix M, and determining the area proximate to the candidate point as a final deployed position of the unmanned aerial vehicle-mounted deformation monitoring radar C when the transformation matrix Mis invertible, wherein
• the calculating a number of conditions for three-dimensional transformation matrix M specifically comprises:
• cond
• ⁡
• (
• M
• )
• =
• 
• M
• 
• ⁢
• 
• M
• -
• 1
• 
• ,
• M−1 is an inverse matrix of the three-dimensional transformation matrix M;
• M
• =
• [
• x
• n
• 0
• -
• x
• a
• C
• A
• y
• n
• 0
• -
• y
• a
• C
• A
• z
• n
• 0
• -
• z
• a
• C
• A
• x
• n
• 0
• -
• x
• b
• C
• B
• y
• n
• 0
• -
• y
• b
• C
• B
• z
• n
• 0
• -
• z
• b
• C
• B
• x
• n
• 0
• -
• x
• c
• C
• C
• y
• n
• 0
• -
• y
• c
• C
• C
• z
• n
• 0
• -
• z
• c
• C
• C
• ]
• ,
• wherein, xa, ya, and za are equivalent phase center coordinates of the ground-based deformation monitoring radar A, xb, yb, and zb are equivalent phase center coordinates of the unmanned aerial vehicle-mounted deformation monitoring radar B, xc, yc, and zc are equivalent phase center coordinates of the unmanned aerial vehicle-mounted deformation monitoring radar C, xn0, yn0, and zn0 is an initial coordinate vector of a target point of a Nth building key structure;
• CA, CB, and CC are constants;
• the unmanned aerial vehicle-mounted deformation monitoring radar B is disposed at a position parallel to a vertical direction of the fire-affected building structure target;
• and
• a calculation formula of the three-dimensional deformation speed is as follows:
• {
• V
• n
• 1
• x
• =
• (
• x
• n
• 1
• -
• x
• n
• 0
• )
• /
• t
• V
• n
• 1
• y
• =
• (
• y
• n
• 1
• -
• y
• n
• 0
• )
• /
• t
• V
• n
• 1
• z
• =
• (
• z
• n
• 1
• -
• z
• n
• 0
• )
• /
• t
• ,
• wherein
• V
• n
• 1
• x
• ,
• V
• n
• 1
• y
• .
• and
• ⁢
• V
• n
• 1
• z
• are three-dimensional deformation speeds of the fire-affected building structure target, xn1, yn1, and zn1 are positions of a deformed building structure target, xn0, yn0, and zn0 are initial positions of the fire-affected building structure target, and t is a radar monitoring and sampling period.